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A common architecture for torque controlled humanoid robots consists in twonested loops. The outer loop generates desired joint/motor torques, and theinner loop stabilises these desired values. In doing so, the inner loop usuallycompensates for joint friction phenomena, thus removing their inherentstabilising property that may be also beneficial for high level controlobjectives. This paper shows how to exploit friction for joint and task spacecontrol of humanoid robots. Experiments are carried out using the humanoidrobot iCub.

Exploiting Friction in Torque Controlled Humanoid Robots